A Reconfigurable Leg for Walking Robots

We present the design of a robotic leg that can seamlessly switch between a spring-suspended-, and unsuspended configuration. Switching is realized by a lightweight mechanism that exploits the alternative configuration of the two-link leg. This allows us to embed additional functionality in the leg to increase the performance in relation to the locomotion task. Title: A Reconfigurable Leg for Walking Robots Authors: Fang Nan, Hendrik Kolvenbach and Marco Hutter IEEE Robotics and Automation Letters (RA-L) Volume: 7, Issue: 2, April 2022 DOI: Also available here: This work was conducted as part of ANYmal Research, a community to advance legged robotics. This research was supported by the Swiss National Science Foundation through the National Centre of Competence in Research Robotics (NCCR Robotics). For more information visit: